altos: clean up radio abort paths. Share radio code.

[fw/altos] / src / ao_radio.c

diff --git a/src/ao_radio.c b/src/ao_radio.c
index 67d5f6bad7e7272190cb2b967c311c69efeb7af4..362b73aa3053c67452ace38ce15fa879aed4d0bb 100644 (file)
--- a/src/ao_radio.c
+++ b/src/ao_radio.c
@@ -272,6 +272,7 @@ static __code uint8_t packet_setup[] = {
 __xdata uint8_t        ao_radio_dma;
 __xdata uint8_t ao_radio_dma_done;
 __xdata uint8_t ao_radio_done;
+__xdata uint8_t ao_radio_abort;
 __xdata uint8_t ao_radio_mutex;
 
 void
@@ -279,7 +280,7 @@ ao_radio_general_isr(void) __interrupt 16
 {
        S1CON &= ~0x03;
        if (RFIF & RFIF_IM_TIMEOUT) {
-               ao_dma_abort(ao_radio_dma);
+               ao_radio_recv_abort();
                RFIF &= ~ RFIF_IM_TIMEOUT;
        } else if (RFIF & RFIF_IM_DONE) {
                ao_radio_done = 1;
@@ -338,14 +339,14 @@ ao_radio_get(void)
 
 
 void
-ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
+ao_radio_send(__xdata void *packet, uint8_t size) __reentrant
 {
        ao_radio_get();
        ao_radio_done = 0;
        ao_dma_set_transfer(ao_radio_dma,
-                           telemetry,
+                           packet,
                            &RFDXADDR,
-                           sizeof (struct ao_telemetry),
+                           size,
                            DMA_CFG0_WORDSIZE_8 |
                            DMA_CFG0_TMODE_SINGLE |
                            DMA_CFG0_TRIGGER_RADIO,
@@ -360,13 +361,14 @@ ao_radio_send(__xdata struct ao_telemetry *telemetry) __reentrant
 }
 
 uint8_t
-ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant
+ao_radio_recv(__xdata void *packet, uint8_t size) __reentrant
 {
+       ao_radio_abort = 0;
        ao_radio_get();
        ao_dma_set_transfer(ao_radio_dma,
                            &RFDXADDR,
-                           radio,
-                           sizeof (struct ao_radio_recv),
+                           packet,
+                           size,
                            DMA_CFG0_WORDSIZE_8 |
                            DMA_CFG0_TMODE_SINGLE |
                            DMA_CFG0_TRIGGER_RADIO,
@@ -375,13 +377,32 @@ ao_radio_recv(__xdata struct ao_radio_recv *radio) __reentrant
                            DMA_CFG1_PRIORITY_HIGH);
        ao_dma_start(ao_radio_dma);
        RFST = RFST_SRX;
-       __critical while (!ao_radio_dma_done)
-               ao_sleep(&ao_radio_dma_done);
+       __critical while (!ao_radio_dma_done && !ao_radio_abort)
+                          ao_sleep(&ao_radio_dma_done);
+
+       /* If recv was aborted, clean up by stopping the DMA engine
+        * and idling the radio
+        */
+       if (!ao_radio_dma_done) {
+               ao_dma_abort(ao_radio_dma);
+               ao_radio_idle();
+       }
        ao_radio_put();
-       return (ao_radio_dma_done & AO_DMA_DONE);
+       return ao_radio_dma_done;
+}
+
+/*
+ * Wake up a task waiting to receive a radio packet
+ * and tell them to abort the transfer
+ */
+
+void
+ao_radio_recv_abort(void)
+{
+       ao_radio_abort = 1;
+       ao_wakeup(&ao_radio_dma_done);
 }
 
-__xdata ao_radio_rdf_running;
 __xdata ao_radio_rdf_value = 0x55;
 
 void
@@ -390,8 +411,9 @@ ao_radio_rdf(int ms)
        uint8_t i;
        uint8_t pkt_len;
 
+       ao_radio_abort = 0;
        ao_radio_get();
-       ao_radio_rdf_running = 1;
+       ao_radio_done = 0;
        for (i = 0; i < sizeof (rdf_setup); i += 2)
                RF[rdf_setup[i]] = rdf_setup[i+1];
 
@@ -419,31 +441,22 @@ ao_radio_rdf(int ms)
                            DMA_CFG1_PRIORITY_HIGH);
        ao_dma_start(ao_radio_dma);
        RFST = RFST_STX;
-
-       __critical while (!ao_radio_dma_done)
-               ao_sleep(&ao_radio_dma_done);
-       ao_radio_rdf_running = 0;
-       ao_radio_idle();
-       for (i = 0; i < sizeof (telemetry_setup); i += 2)
-               RF[telemetry_setup[i]] = telemetry_setup[i+1];
-       ao_radio_put();
-}
-
-void
-ao_radio_abort(void)
-{
-       /* Only abort if a task is waiting to receive data */
-       if (RFST == RFST_SRX) {
+       __critical while (!ao_radio_done && !ao_radio_abort)
+                          ao_sleep(&ao_radio_done);
+       if (!ao_radio_done) {
                ao_dma_abort(ao_radio_dma);
                ao_radio_idle();
        }
+       for (i = 0; i < sizeof (telemetry_setup); i += 2)
+               RF[telemetry_setup[i]] = telemetry_setup[i+1];
+       ao_radio_put();
 }
 
 void
 ao_radio_rdf_abort(void)
 {
-       if (ao_radio_rdf_running)
-               ao_radio_abort();
+       ao_radio_abort = 1;
+       ao_wakeup(&ao_radio_done);
 }